Four-link flat clip adaptive robot finger device

A robot finger, self-adaptive technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve the problem of parallel clamping and grasping effect of difficult ends, and achieve stable and reliable grasping, light weight, low assembly and maintenance costs Effect
CN105881565BInactive Publication Date: 2018-02-02TSINGHUA UNIV
6 Cites 11 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2018-02-02
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention relates to a finger device of a four-linkage parallel clamping and adaptive robot, which belongs to the technical field of robot hands. The finger device comprises a base, a first finger section, a second finger section, a proximal joint axis, a distal joint axis, a driver, a first connecting rod, a second connecting rod, a third connecting rod, a first rod shaft, a second rod shaft, a bulge driving disk, a thumb wheel, a transmission mechanism, a first spring part, a second spring part and a limiting bulge. According to the device, the finger functions of parallel clamping and adaptive grabbing are comprehensively realized, the second finger section can horizontally move to pinch an object or extend to take the object, or the first finger section and the second finger section are rotated in sequence, so as to adaptively envelop objects of different shapes and sizes; the grabbing range is wide, and the grabbing is stable and reliable; two joints are driven only by one driver, and a complex sensing and control system is not needed; the finger device has the advantages of simple structure, small size, light weight and low processing, assembly and maintenance cost and is suitable for the robot hands.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the technical field of robot hands, and in particular relates to the structural design of a four-link flat clip self-adaptive robot finger device. Background technique

[0002] The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, does not require real-time electronic sensing and closed-loop feedback control, and is simple and convenient to control, reducing manufacturing costs.

[0003] There are mainly two grasping methods when grasping objects, one is pinching and the other is holding. Pinch is to use the fingertips of the end fingers to gra...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More